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<a href="v4l2Camera_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved.</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * copy of this software and associated documentation files (the &quot;Software&quot;),</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * to deal in the Software without restriction, including without limitation</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * the rights to use, copy, modify, merge, publish, distribute, sublicense,</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * and/or sell copies of the Software, and to permit persons to whom the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Software is furnished to do so, subject to the following conditions:</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * The above copyright notice and this permission notice shall be included in</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * all copies or substantial portions of the Software.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * DEALINGS IN THE SOFTWARE.</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#ifndef __V4L2_CAPTURE_H__</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define __V4L2_CAPTURE_H__</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;linux/videodev2.h&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classv4l2Camera.html">   41</a></span>&#160;<span class="keyword">class </span><a class="code" href="classv4l2Camera.html">v4l2Camera</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">public</span>: </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">static</span> <a class="code" href="classv4l2Camera.html">v4l2Camera</a>* <a class="code" href="classv4l2Camera.html#aeed02b9889fd51c79f18aabb05c9c5a3">Create</a>( <span class="keyword">const</span> <span class="keywordtype">char</span>* device_path );</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <a class="code" href="classv4l2Camera.html#adc4c7175473362fbd763fc6bcd4589df">~v4l2Camera</a>();</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classv4l2Camera.html#a206ecceaf8cbcc6c4bf7b7c93f16d069">Open</a>();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classv4l2Camera.html#aca49ec2b7d7d60af6422da91b5bc0272">Close</a>();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">void</span>* <a class="code" href="classv4l2Camera.html#addd045d6f50e92cc4b0c96f156eebcd6">Capture</a>( <span class="keywordtype">size_t</span> timeout=0 );</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classv4l2Camera.html#aa3ce83a56b2e54115b18a502f384d6de">   73</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="classv4l2Camera.html#aa3ce83a56b2e54115b18a502f384d6de">GetWidth</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mWidth; }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        </div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classv4l2Camera.html#a9c972f38c4217cff7830ac798b58b2b4">   78</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="classv4l2Camera.html#a9c972f38c4217cff7830ac798b58b2b4">GetHeight</a>()<span class="keyword"> const                                       </span>{ <span class="keywordflow">return</span> mHeight; }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classv4l2Camera.html#a615fb394627a68c35fee8dcf84897eef">   83</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="classv4l2Camera.html#a615fb394627a68c35fee8dcf84897eef">GetPitch</a>()<span class="keyword"> const                                        </span>{ <span class="keywordflow">return</span> mPitch; }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classv4l2Camera.html#a844f31302f43806e6e19c15d31bdacc8">   88</a></span>&#160;        <span class="keyword">inline</span> uint32_t <a class="code" href="classv4l2Camera.html#a844f31302f43806e6e19c15d31bdacc8">GetPixelDepth</a>()<span class="keyword"> const                           </span>{ <span class="keywordflow">return</span> mPixelDepth; }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classv4l2Camera.html">v4l2Camera</a>( <span class="keyword">const</span> <span class="keywordtype">char</span>* device_path );</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">bool</span> init();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordtype">bool</span> initCaps();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">bool</span> initFormats();</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordtype">bool</span> initStream();</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">bool</span> initUserPtr();</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">bool</span> initMMap();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">int</span>         mFD;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">int</span>         mRequestFormat;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        uint32_t mRequestWidth;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        uint32_t mRequestHeight;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        uint32_t mWidth;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        uint32_t mHeight;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        uint32_t mPitch;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        uint32_t mPixelDepth;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">struct </span>v4l2_mmap</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                <span class="keyword">struct </span>v4l2_buffer buf;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                <span class="keywordtype">void</span>*  ptr;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        };</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        v4l2_mmap* mBuffersMMap;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordtype">size_t</span> mBufferCountMMap;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        std::vector&lt;v4l2_fmtdesc&gt; mFormats;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        std::string mDevicePath;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="ttc" id="classv4l2Camera_html_aa3ce83a56b2e54115b18a502f384d6de"><div class="ttname"><a href="classv4l2Camera.html#aa3ce83a56b2e54115b18a502f384d6de">v4l2Camera::GetWidth</a></div><div class="ttdeci">uint32_t GetWidth() const</div><div class="ttdoc">Get width, in pixels, of camera image. </div><div class="ttdef"><b>Definition:</b> v4l2Camera.h:73</div></div>
<div class="ttc" id="classv4l2Camera_html_a9c972f38c4217cff7830ac798b58b2b4"><div class="ttname"><a href="classv4l2Camera.html#a9c972f38c4217cff7830ac798b58b2b4">v4l2Camera::GetHeight</a></div><div class="ttdeci">uint32_t GetHeight() const</div><div class="ttdoc">Retrieve height, in pixels, of camera image. </div><div class="ttdef"><b>Definition:</b> v4l2Camera.h:78</div></div>
<div class="ttc" id="classv4l2Camera_html_adc4c7175473362fbd763fc6bcd4589df"><div class="ttname"><a href="classv4l2Camera.html#adc4c7175473362fbd763fc6bcd4589df">v4l2Camera::~v4l2Camera</a></div><div class="ttdeci">~v4l2Camera()</div><div class="ttdoc">Destructor. </div></div>
<div class="ttc" id="classv4l2Camera_html_addd045d6f50e92cc4b0c96f156eebcd6"><div class="ttname"><a href="classv4l2Camera.html#addd045d6f50e92cc4b0c96f156eebcd6">v4l2Camera::Capture</a></div><div class="ttdeci">void * Capture(size_t timeout=0)</div><div class="ttdoc">Return the next image. </div></div>
<div class="ttc" id="classv4l2Camera_html_aca49ec2b7d7d60af6422da91b5bc0272"><div class="ttname"><a href="classv4l2Camera.html#aca49ec2b7d7d60af6422da91b5bc0272">v4l2Camera::Close</a></div><div class="ttdeci">bool Close()</div><div class="ttdoc">Stop streaming. </div></div>
<div class="ttc" id="classv4l2Camera_html"><div class="ttname"><a href="classv4l2Camera.html">v4l2Camera</a></div><div class="ttdoc">Video4Linux2 (V4L2) camera capture streaming. </div><div class="ttdef"><b>Definition:</b> v4l2Camera.h:41</div></div>
<div class="ttc" id="classv4l2Camera_html_a615fb394627a68c35fee8dcf84897eef"><div class="ttname"><a href="classv4l2Camera.html#a615fb394627a68c35fee8dcf84897eef">v4l2Camera::GetPitch</a></div><div class="ttdeci">uint32_t GetPitch() const</div><div class="ttdoc">Return the size in bytes of one line of the image. </div><div class="ttdef"><b>Definition:</b> v4l2Camera.h:83</div></div>
<div class="ttc" id="classv4l2Camera_html_a206ecceaf8cbcc6c4bf7b7c93f16d069"><div class="ttname"><a href="classv4l2Camera.html#a206ecceaf8cbcc6c4bf7b7c93f16d069">v4l2Camera::Open</a></div><div class="ttdeci">bool Open()</div><div class="ttdoc">Start streaming. </div></div>
<div class="ttc" id="classv4l2Camera_html_aeed02b9889fd51c79f18aabb05c9c5a3"><div class="ttname"><a href="classv4l2Camera.html#aeed02b9889fd51c79f18aabb05c9c5a3">v4l2Camera::Create</a></div><div class="ttdeci">static v4l2Camera * Create(const char *device_path)</div><div class="ttdoc">Create V4L2 interface. </div></div>
<div class="ttc" id="classv4l2Camera_html_a844f31302f43806e6e19c15d31bdacc8"><div class="ttname"><a href="classv4l2Camera.html#a844f31302f43806e6e19c15d31bdacc8">v4l2Camera::GetPixelDepth</a></div><div class="ttdeci">uint32_t GetPixelDepth() const</div><div class="ttdoc">Return the bit depth per pixel. </div><div class="ttdef"><b>Definition:</b> v4l2Camera.h:88</div></div>
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